CN101211185A - Tunnelling machine control system detection test platform - Google Patents
Tunnelling machine control system detection test platform Download PDFInfo
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- CN101211185A CN101211185A CNA2006101600408A CN200610160040A CN101211185A CN 101211185 A CN101211185 A CN 101211185A CN A2006101600408 A CNA2006101600408 A CN A2006101600408A CN 200610160040 A CN200610160040 A CN 200610160040A CN 101211185 A CN101211185 A CN 101211185A
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Abstract
A test bench for testing a shield machine control system comprises a shield machine function simulation system and a sensing device arranged in the function simulation system, wherein the sensing device is communicated with the shield machine control system to be tested, and the function simulation system can be a physical simulation system, a mathematical simulation system or a combination of the physical simulation system and the mathematical simulation system. The test bench for testing the shield machine control system can completely simulate various functions of various types of shield machines, so as to test the correctness of the shield machine control system in design, assembly and debugging, avoid the risk arising from direct communication with the shield machine when the design of the control system is faulty, and shorten the circle of developing a new machine. Meanwhile, the invention is helpful for optimization and modification of the shield machine control system and remote fault diagnosis on the shield machine operated in a tunnel.
Description
Technical field
The invention belongs to the simulation test device of tunnel piercing engineering equipment function, relate in particular to shield machine control system and detect test unit.
Background technology
Shield machine is the complicated main equipment of a kind of structure, produce functional shield machine, and the research and development of its control system are most important, and the scientific research personnel can drop into long time and very big energy in the research and development of control system; However some also can occur and design irrational part, and these unreasonable parts just can be learnt when only linking together and constructing in the actual topworks of control system and shield machine; This has not only brought hidden danger but also has incured loss through delay project progress to construction, and it is imperative therefore to develop the equipment that can detect the shield machine control system correctness.
Summary of the invention
The objective of the invention is, a kind of tunnelling machine control system detection test platform is provided, after control system is finished design, just can detect, and then the control system that reaches in the shield machine product all can realize expectation function it.
The objective of the invention is to be achieved through the following technical solutions: this tunnelling machine control system detection test platform, comprise the shield machine function emulation system, and being arranged on sensing device in the function emulation system, sensing device and detected shield machine control system interrelate.
Described shield machine function emulation system is made up of physical simulation system and mathematics simulation system, and they are got in touch by being arranged on sensor in the analogue system, control knob, touch-screen and detected shield machine control system respectively.
The physical simulation system advances analog loading device, deslagging analogue means, muddy water to carry analogue means, pressure equilibrium analogue means, attitude of shield machine to adjust analogue means by the cutterhead driving device that is assembled together with the shield body, cutterhead, knife cutting analog loading device, simulation section of jurisdiction, shield machine propulsion plant, shield machine and forms.
In the physical simulation system, cutterhead is installed in the front end of shield body, and cutterhead driving device is installed in the shield body, and cutterhead driving device is made up of together with reductor and big bearing propulsion system; In the place ahead of cutterhead the knife cutting analog loading device is housed;
Shield structure propulsion plant advances oil cylinder to form by shield machine, and it is assemblied within the shield body, and shield machine advances analog loading device to advance the simulation load cylinder to form by the shield machine that is assemblied in the external limit of shield;
The deslagging analogue means, the slag slurry discharge line that is positioned at muddy water pressurized seal cabin by import is formed with the slag stock pump that links to each other with it;
Muddy water is carried analogue means, is made up of the liquid level gauge that outlet is positioned at the muddy water conveyance conduit and the coupled muddy water pump in muddy water pressurized seal cabin and is positioned at muddy water pressurized seal cabin;
Be positioned at the shield body, the compressed air piping of variable valve is housed, reach the pressure transducer decomposition pressure balance simulating device that is connected with detected control system;
Attitude of shield machine is adjusted analogue means, is made up of the universal hinge support that is installed in shield body bottom, propelling oil cylinder and simulation section of jurisdiction.
Described mathematics simulation system is the mathematical model of the course of work of the pipe sheet assembling mechanism in the shield machine, slip casting mechanism, seal lubrication mechanism, adjuvant injecting mechanism, rock ballast crushing mechanism, section of jurisdiction transshipment acitivity, pressurized air feed mechanism, process water feed mechanism, ventilating mechanisms being set up by computing machine and test.
Described shield machine function emulation system, it is the physical simulation system, it advances analog loading device, deslagging analogue means, muddy water to carry analogue means, pressure equilibrium analogue means, attitude of shield machine to adjust analogue means by the cutterhead driving device that is assembled together with the shield body, cutterhead, knife cutting analog loading device, simulation section of jurisdiction, shield machine propulsion plant, shield machine to form, and they are got in touch by being arranged on sensor in the analogue system, control knob, touch-screen and detected shield machine control system.
Described shield machine function emulation system is a mathematics simulation system, and it is the mathematical model of setting up by the course of work that computing machine advances analog loading device, pressure equilibrium analog loading device, attitude of shield machine to adjust analogue means, pipe sheet assembling mechanism, slip casting mechanism, seal lubrication mechanism, adjuvant injecting mechanism, rock ballast crushing mechanism, section of jurisdiction transshipment acitivity, pressurized air feed mechanism, process water feed mechanism, ventilating mechanisms to the knife cutting analog loading device in the shield machine, shield machine; And by with the getting in touch of shield machine control system, the control system correctness is tested.
This tunnelling machine control system detection test platform, but the various functions of comprehensive simulated polytype shield machine, thereby the correctness of shield machine control system in design, assembling and debugging tested, avoid the direct and online risk of bringing of shield machine when the Control System Design imperfection, shortened the R﹠D cycle of new architecture.Simultaneously, be convenient to optimization and remodeling, also be convenient to the shield machine of just constructing in the tunnel is carried out remote fault diagnosis shield machine control system.
" shield machine control system " among the present invention detects testing table and has complete function, fidelity height, makes a distinction between the important and the lesser one, actual situation is in conjunction with, simple in structure, the advantage being convenient to expand.
Description of drawings
Fig. 1 is that the function emulation system of embodiment 1 is formed schematic block diagram;
Fig. 2 is the physical simulation system architecture synoptic diagram of embodiment 1;
Fig. 3 forms schematic block diagram for shield machine control system;
Fig. 4 is a tunnelling machine control system detection test platform principle of work synoptic diagram;
Embodiment
Embodiment 1: in the tunnelling machine control system detection test platform in the present embodiment, a shield machine function emulation system 2 is arranged, it is made up of with mathematics simulation system 4 physical simulation system 3.
Shield machine function physical simulation system 3 advances analog loading device 10, deslagging analogue means 15, muddy water to carry analogue means 14, pressure equilibrium analogue means 13, attitude of shield machine to adjust analogue means 16 etc. by the cutterhead driving device 9 that is assembled together with shield body 21, cutterhead 8, knife cutting analog loading device 7, simulation section of jurisdiction 12, shield machine propulsion plant 11, shield machine and forms.
Cutterhead 8 is contained in the front end of shield body 21, and cutterhead driving device 9 is contained in the shield body 21, and cutterhead driving device 9 is made up of together with reductor and big bearing propulsion system, and propulsion system can adopt motor or oil motor.Under the driving of cutterhead driving device 9, cutterhead 8 can rotate clockwise or counterclockwise.Annexation between them is: the power output shaft of propulsion system links to each other with planet-gear speed reducer, and the output shaft of planet-gear speed reducer links to each other with the ring gear of big bearing by pinion wheel, and big bearing ring gear links to each other with cutterhead by high-strength bolt.In the place ahead of cutterhead 8 knife cutting analog loading device 7 is housed; It is made up of speed-increasing gear 20, the universal joint 32 that is assemblied in speed-increasing gear 20 oil motors 19 in front and is assemblied in speed-increasing gear 20 back, and the longitudinal center line of the longitudinal center line of knife cutting analog loading device 7 and cutterhead 8 should coincide.
Shield machine propulsion plant 11 is positioned within the shield body 21, and its rarest four shield machine advances oil cylinder 23 to form, and shield machine advances the quantity of oil cylinder 23, can according to circumstances select, but should be more than four; Shield machine advances the front end of oil cylinder 23 to be connected with annular muddy water pressurized seal cabin 27, after stretching out, the piston rod of propelling oil cylinder 23 withstands on the simulation section of jurisdiction 12, and shield machine advances analog loading device 10 to be assemblied in the outside of shield body 21, it advances simulation load cylinder 22 to form by the shield machine on shield body 21 outer walls that are assemblied in, load cylinder 22 is at least four, but also should according to circumstances increase its quantity; Shield machine advances simulation load cylinder 22 front ends to be fixed on 27 outsides, annular muddy water pressurized seal cabin, and the rear end is fixed on the simulation section of jurisdiction 12; Simulation section of jurisdiction 12 is a steel ring-type box structure, and it and testing laboratory ground are fixed.
Deslagging analogue means 15 is made up of with the slag stock pump 34 that links to each other with it the slag slurry discharge line 25 that import is positioned at muddy water pressurized seal cabin 27;
Pressure equilibrium analogue means 13 by the muddy water pressurized seal cabin 27 of annular, be contained in pressure transducer 28 on the muddy water pressurized seal cabin 27 and liquid level gauge 30, the compressed air piping 26 that communicates with muddy water pressurized seal cabin 27 and muddy water conveyance conduit 24 and coupled muddy water pump 33 and form, variable valve 29 is housed on compressed air piping 26, and variable valve 29 adopts adjustment type motorized valve or pneumatic valve.
And the muddy water conveyance conduit 24 in the pressure equilibrium analogue means 13, liquid level gauge 30 and muddy water pump 33 are formed muddy water conveying analogue means 14.
Attitude of shield machine is adjusted analogue means 16, is made up of universal hinge support 31, propelling oil cylinder group 23, simulation section of jurisdiction 12; Universal hinge support 31 is installed in the bottom in ring seal cabin, along with shield machine constantly tunnels forward and moves.
In above-mentioned every kind of device, the sensing device of getting in touch with detected shield machine control system is arranged all.
Shield machine function mathematics simulation system 4 is also got in touch with detected shield machine control system, and the correctness of control system 1 is tested.
The functional simulation mathematical model also can be set up for one or more mechanisms as required.
The effect of the various devices of physical simulation system is as follows in the present embodiment:
Cutterhead 8 can rotate under the driving of cutterhead driving device 9 clockwise or counterclockwise.
The effect of knife cutting analog loading device 7 is that the moment of torsion that is produced when cutterhead 8 is carried out the ground cutting in the excavation stratum is simulated.Along with the rotation of cutterhead 8, speed-increasing gear 20 will drive oil motor 19 revolutions in the speedup mode, make it be in " pump " operating mode, to the inhibition that is rotarily formed of cutterhead 8.By adjusting the top hole pressure of oil motor 19, can realize the adjusting of cutterhead 8 load torque sizes.
Shield machine propulsion plant 11 is advanced shield machine in the excavation stratum.It mainly is that the resistance that is produced when cutterhead 8 is tunneled in the excavation stratum with shield body 21 is simulated that shield machine advances the effect of analog loading device 10.When shield machine advanced oil group 23 to stretch out, cutterhead 8 and shield body 21 were pushed ahead in the simulation section of jurisdiction 12 at pushing tow rear, made shield machine advance the 22 passive stretchings of simulation load cylinder group simultaneously, played the effect of " pump ".By adjusting the size that shield machine advances 22 oil dampings of simulation load cylinder group, can realize advancing the adjusting of oil cylinder group 23 load thrusts.
It is that the formation and the discharge process of slag slurry are simulated that muddy water is carried the analogue means 14 and the effect of deslagging analogue means 15.Send in the muddy water pressurized seal cabin 27 via muddy water conveyance conduit 24 by the muddy water after handling, mix formation slag slurry with " dregs " after discharge outside the holes by slag slurry discharge line 25, control by liquid level gauge 30 grades, can regulate muddy water input and the discharge relation that the slag slurry is discharged between the two, thereby make the liquid level in the pressurized capsule 27 remain on suitable height.
The effect of pressure equilibrium analogue means 13 is that the soil pressure and the water pressure of excavation face are simulated.It is mainly realized by the adjusting to pressurized capsule 27 inner air pressures.When the water and soil pressure of excavation face increased, the effect by pressure transducer 28, control system 1 and adjustment type motorized valve or pneumatic valve 29 increased the air mass flow in the compressed air piping 26 automatically, and the air pressures in the pressurized capsule 27 are increased.When the water and soil pressure of excavation face reduced, then the interior air pressure of pressurized capsule 27 decreased, and kept the relation of a balance between the two automatically.
Attitude of shield machine is adjusted analogue means 16, can carry out the simulation that attitude is adjusted to shield machine.If will advance the pressure of each cylinder in the oil cylinder group 23 to be adjusted to unanimity, when oil cylinder group 23 was stretched out, counter-force promotion cutterhead 8, shield body 21, the universal hinge support 31 of then simulating section of jurisdiction 12 generations moved horizontally forward.If will advance the pressure of the oil cylinder that is positioned at the top in the oil cylinder group 23 to heighten, then cutterhead 8 can move forward along universal hinge support 31 nutations under the effect of unbalanced counter-force with shield body 21.The rest may be inferred, cutterhead 8 and shield body 21 is in face upward, on each position angles such as nutation, left avertence, right avertence.
Shield machine control system 1 is made up of signal pickup assembly 5 and controller 6, signal pickup assembly 5 is made up of sensor, control knob or touch-screen, the various simulating signals or the digital signal that collect are input in the controller 6, controller 6 can be PLC or industrial control computer or single-chip microcomputer or relay array etc., is used to realize the control to shield machine function emulation system 2.
After the design and assembly of shield machine control system 1 are finished, can utilize this detection testing table that it is detected; Need during detection detected shield machine control system and above-mentioned analogue system are linked.Under the effect of control system 1, function emulation system if can be realized various actions with certain logical relation, and on various parameters such as pressure, flow, displacement, speed, time, rotating speed, moment of torsion, attitude angle, temperature, liquid level, adhere to specification, show that then control system 1 can make function emulation system 2 realize the function of expection, the design that control system 1 is described is correct with assembling, has possessed with actual shield machine and has carried out online condition.If control system 1 can not make function emulation system realize the function of expection, the parameter or the design existing problems of control system 1 then are described, need debugging again or revise design.
Embodiment 2: the shield machine function emulation system in the present embodiment is the physical simulation system, its structure is identical with physical simulation system 3 among the embodiment 1, and every kind of device in this analogue system all has sensor, control knob, touch-screen and detected shield machine control system to get in touch.
Embodiment 3: the shield machine function emulation system in the present embodiment is mathematics simulation system (also can be described as computer simulation system).
Shield machine function mathematics simulation system is the mathematical model of setting up by the course of work that computing machine advances analog loading device, pressure equilibrium analog loading device, attitude of shield machine to adjust analogue means, pipe sheet assembling mechanism, slip casting mechanism, seal lubrication mechanism, adjuvant injecting mechanism, rock ballast crushing mechanism, section of jurisdiction transshipment acitivity, pressurized air feed mechanism, process water feed mechanism, ventilating mechanisms to the knife cutting analog loading device in the shield machine, shield machine; And by with the getting in touch of shield machine control system, the control system correctness is tested.
In order to embody the control procedure of shield machine more realistically, simultaneously also in order to simplify the structure of tunnelling machine control system detection test platform, detecting the function emulation system of testing table preferably is made up of physical simulation system and mathematics simulation system, take the method for physical simulation to carry out functional simulation to the pith that is closely related with the driving operating mode in the shield machine, then adopt the method for mathematical simulation to carry out functional simulation other parts; But according to the needs that detect, the function emulation system that detects testing table also can only be the physical simulation system or only be mathematics simulation system.
Claims (7)
1. tunnelling machine control system detection test platform is characterized in that: detect testing table and comprise the shield machine function emulation system, and be arranged on sensing device in the function emulation system and detected shield machine control system interrelates.
2. tunnelling machine control system detection test platform according to claim 1, it is characterized in that: described shield machine function emulation system, be made up of physical simulation system and mathematics simulation system, they are got in touch by being arranged on sensor in the analogue system, control knob, touch-screen and detected shield machine control system respectively.
3. tunnelling machine control system detection test platform according to claim 2, it is characterized in that: the physical simulation system advances analog loading device, deslagging analogue means, muddy water to carry analogue means, pressure equilibrium analogue means, attitude of shield machine to adjust analogue means by the cutterhead driving device that is assembled together with the shield body, cutterhead, knife cutting analog loading device, simulation section of jurisdiction, shield machine propulsion plant, shield machine and forms.
4. according to claim 2 or 3 described tunnelling machine control system detection test platforms, it is characterized in that: in the physical simulation system, cutterhead is installed in the front end of shield body, and cutterhead driving device is installed in the shield body, and cutterhead driving device is made up of together with reductor and big bearing propulsion system; In the place ahead of cutterhead the knife cutting analog loading device is housed;
Shield structure propulsion plant advances oil cylinder to form by shield machine, and it is assemblied within the shield body, and shield machine advances analog loading device to advance the simulation load cylinder to form by the shield machine that is assemblied in the external limit of shield;
The deslagging analogue means, the slag slurry discharge line that is positioned at muddy water pressurized seal cabin by import is formed with the slag stock pump that links to each other with it;
Muddy water is carried analogue means, is made up of the liquid level gauge that outlet is positioned at the muddy water conveyance conduit and the coupled muddy water pump in muddy water pressurized seal cabin and is positioned at muddy water pressurized seal cabin;
Be positioned at the shield body, the compressed air piping of variable valve is housed, reach the pressure transducer decomposition pressure balance simulating device that is connected with detected control system;
Attitude of shield machine is adjusted analogue means, is made up of the universal hinge support that is installed in shield body bottom, propelling oil cylinder and simulation section of jurisdiction.
5. according to claim 2 or 3 described tunnelling machine control system detection test platforms, it is characterized in that: described mathematics simulation system is the mathematical model of the course of work of the pipe sheet assembling mechanism in the shield machine, slip casting mechanism, seal lubrication mechanism, adjuvant injecting mechanism, rock ballast crushing mechanism, section of jurisdiction transshipment acitivity, pressurized air feed mechanism, process water feed mechanism, ventilating mechanisms being set up by computing machine and test.
6. tunnelling machine control system detection test platform according to claim 1, it is characterized in that: described shield machine function emulation system, it is the physical simulation system, it is by the cutterhead driving device that is assembled together with the shield body, cutterhead, the knife cutting analog loading device, the simulation section of jurisdiction, the shield machine propulsion plant, shield machine advances analog loading device, the deslagging analogue means, muddy water is carried analogue means, the pressure equilibrium analogue means, attitude of shield machine is adjusted the analogue means composition, and they are by being arranged on the sensor in the analogue system, control knob, touch-screen and detected shield machine control system are got in touch.
7. tunnelling machine control system detection test platform according to claim 1, it is characterized in that: described shield machine function emulation system is a mathematics simulation system, and it is to the knife cutting analog loading device in the shield machine by computing machine, shield machine advances analog loading device, the pressure equilibrium analog loading device, attitude of shield machine is adjusted analogue means, pipe sheet assembling mechanism, slip casting mechanism, seal lubrication mechanism, the adjuvant injecting mechanism, the rock ballast crushing mechanism, the section of jurisdiction transshipment acitivity, the pressurized air feed mechanism, the process water feed mechanism, the mathematical model that the course of work of ventilating mechanisms is set up; And by with the getting in touch of shield machine control system, the control system correctness is tested.
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| CNA2006101600408A CN101211185A (en) | 2006-12-31 | 2006-12-31 | Tunnelling machine control system detection test platform |
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| CN101788406A (en) * | 2010-03-31 | 2010-07-28 | 上海交通大学 | Device for testing force transmission characteristics of tunnellers |
| CN101881173A (en) * | 2010-03-29 | 2010-11-10 | 上海盾构设计试验研究中心有限公司 | Synchronous grouting simulation test platform of shield tunneling machine |
| CN102022121A (en) * | 2010-11-19 | 2011-04-20 | 南车资阳机车有限公司 | Cutter driving device of shield machine |
| CN102467836A (en) * | 2010-11-19 | 2012-05-23 | 上海市机械施工有限公司 | Earth pressure balance shield tunneling machine teaching system |
| CN102507163A (en) * | 2011-10-10 | 2012-06-20 | 沈阳重型机械集团有限责任公司 | Test loading device for shield tunneling machine under high water pressure |
| CN103035163A (en) * | 2013-01-11 | 2013-04-10 | 中铁第四勘察设计院集团有限公司 | Supporting and reverse propelling device of shield testing machine |
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| CN103852574B (en) * | 2012-11-28 | 2015-11-18 | 中国石油天然气集团公司 | A kind of shield tunnel back of the body fills in analogue means and the using method thereof of slurry experiment |
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| CN101881173A (en) * | 2010-03-29 | 2010-11-10 | 上海盾构设计试验研究中心有限公司 | Synchronous grouting simulation test platform of shield tunneling machine |
| CN101788406A (en) * | 2010-03-31 | 2010-07-28 | 上海交通大学 | Device for testing force transmission characteristics of tunnellers |
| CN102022121B (en) * | 2010-11-19 | 2013-04-17 | 南车资阳机车有限公司 | Cutter driving device of shield machine |
| CN102022121A (en) * | 2010-11-19 | 2011-04-20 | 南车资阳机车有限公司 | Cutter driving device of shield machine |
| CN102467836A (en) * | 2010-11-19 | 2012-05-23 | 上海市机械施工有限公司 | Earth pressure balance shield tunneling machine teaching system |
| CN110439585A (en) * | 2011-08-03 | 2019-11-12 | 久益环球地下采矿有限责任公司 | It is automatically brought into operation the method and system of continuous digger |
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| CN103852574B (en) * | 2012-11-28 | 2015-11-18 | 中国石油天然气集团公司 | A kind of shield tunnel back of the body fills in analogue means and the using method thereof of slurry experiment |
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| CN103035163A (en) * | 2013-01-11 | 2013-04-10 | 中铁第四勘察设计院集团有限公司 | Supporting and reverse propelling device of shield testing machine |
| CN103035163B (en) * | 2013-01-11 | 2014-12-03 | 中铁第四勘察设计院集团有限公司 | Supporting and reverse propelling device of shield testing machine |
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| CN103236218B (en) * | 2013-04-25 | 2017-02-15 | 哈尔滨理工大学 | Adjusting and testing experiment system and adjusting and testing method for power machinery |
| CN103437776A (en) * | 2013-09-12 | 2013-12-11 | 甘忠荣 | Handpiece of tunnel borer and tunnel borer with same |
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| CN114706322B (en) * | 2022-03-30 | 2023-06-23 | 西南交通大学 | Automatic control simulation system for posture of shield tunneling machine |
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